Point cloud descriptors are generally divided into two classes: local and global. Common local point cloud description algorithms include normal line and curvature calculation, eigenvalue analysis, PFH[1]}, Spin Image[2]}, shape contexts[3]}, SHOT[4]}, etc. SHOT constructs a spherical region with feature points as the center and divides this sphere into cells. Histogram statistics of points in each cell are used as the descriptor. One can convert a local descriptor into a global one by expanding the support space for a point cloud.
